Provided Policies

Any callable matching PolicyCallable can be used as a control policy. dynestyx provides the following baseline implementations:

Policy	Description
MPPI	Model Predictive Path Integral control. At each step it samples candidate control sequences around a nominal sequence, rolls each one out through the model, scores them with a user-supplied loss, computes their weighted average and applies the first control. The proposal, the weighting and the state update can be customized by subclassing.